I am planning to work on a non trivial kinematics for a different kind 
of machine, and would like to find the source code for trivkins, as well 
as all the other kinematics sources.  The section on non-trivial 
kinematics in the Integrator's Manual Is short and not very comprehensive.

   I found this article in the knowledge base:

http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Kinematics

and it is very informative about why you might care about the 
non-trivial kinematics, but it seems like it needs to have a bottom half 
that describes the source code necessary to make it happen, and how to 
compile and install the code once you write it.  I might be able to do a 
basic version of this second half if I can write the custom kinematics 
module I need

   I tried gitweb and went to the tree, expecting that all the EMC2 
source would be represented there, but my search is taking so much 
longer than it would if one of you guys that already knows where the 
kinematics modules are stored would just point me to the right place 
directly.

Thanks in advance.

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